diff --git a/common/tier4_planning_rviz_plugin/include/trajectory_footprint/display.hpp b/common/tier4_planning_rviz_plugin/include/trajectory_footprint/display.hpp
index 540c590324810..d3964f9e7ce07 100644
--- a/common/tier4_planning_rviz_plugin/include/trajectory_footprint/display.hpp
+++ b/common/tier4_planning_rviz_plugin/include/trajectory_footprint/display.hpp
@@ -67,6 +67,7 @@ private Q_SLOTS:
   rviz_common::properties::FloatProperty * property_vehicle_length_;
   rviz_common::properties::FloatProperty * property_vehicle_width_;
   rviz_common::properties::FloatProperty * property_rear_overhang_;
+  rviz_common::properties::FloatProperty * property_offset_;
 
   Ogre::ManualObject * trajectory_point_manual_object_;
   rviz_common::properties::BoolProperty * property_trajectory_point_view_;
diff --git a/common/tier4_planning_rviz_plugin/src/path_footprint/display.cpp b/common/tier4_planning_rviz_plugin/src/path_footprint/display.cpp
index 5e58d6da03628..0122042b2e521 100644
--- a/common/tier4_planning_rviz_plugin/src/path_footprint/display.cpp
+++ b/common/tier4_planning_rviz_plugin/src/path_footprint/display.cpp
@@ -137,8 +137,8 @@ void AutowarePathFootprintDisplay::processMessage(
         color.a = property_path_footprint_alpha_->getFloat();
 
         const auto info = vehicle_footprint_info_;
-        const float top = info->length - info->rear_overhang;
-        const float bottom = -info->rear_overhang;
+        const float top = info->length / 2.0;
+        const float bottom = -info->length / 2.0;
         const float left = -info->width / 2.0;
         const float right = info->width / 2.0;
 
diff --git a/common/tier4_planning_rviz_plugin/src/trajectory_footprint/display.cpp b/common/tier4_planning_rviz_plugin/src/trajectory_footprint/display.cpp
index 7ab59c239f01c..b9c32aea58be3 100644
--- a/common/tier4_planning_rviz_plugin/src/trajectory_footprint/display.cpp
+++ b/common/tier4_planning_rviz_plugin/src/trajectory_footprint/display.cpp
@@ -44,6 +44,9 @@ AutowareTrajectoryFootprintDisplay::AutowareTrajectoryFootprintDisplay()
   property_rear_overhang_ = new rviz_common::properties::FloatProperty(
     "Rear Overhang", 1.03, "", property_trajectory_footprint_view_, SLOT(updateVehicleInfo()),
     this);
+  property_offset_ = new rviz_common::properties::FloatProperty(
+    "Offset from BaseLink", 0.0, "", property_trajectory_footprint_view_, SLOT(updateVehicleInfo()),
+    this);
   property_vehicle_length_->setMin(0.0);
   property_vehicle_width_->setMin(0.0);
   property_rear_overhang_->setMin(0.0);
@@ -158,6 +161,8 @@ void AutowareTrajectoryFootprintDisplay::processMessage(
     trajectory_point_manual_object_->begin(
       "BaseWhiteNoLighting", Ogre::RenderOperation::OT_TRIANGLE_LIST);
 
+    const float offset_from_baselink = property_offset_->getFloat();
+
     for (size_t point_idx = 0; point_idx < msg_ptr->points.size(); point_idx++) {
       const auto & path_point = msg_ptr->points.at(point_idx);
       /*
@@ -169,8 +174,8 @@ void AutowareTrajectoryFootprintDisplay::processMessage(
         color.a = property_trajectory_footprint_alpha_->getFloat();
 
         const auto info = vehicle_footprint_info_;
-        const float top = info->length - info->rear_overhang;
-        const float bottom = -info->rear_overhang;
+        const float top = info->length - info->rear_overhang - offset_from_baselink;
+        const float bottom = -info->rear_overhang + offset_from_baselink;
         const float left = -info->width / 2.0;
         const float right = info->width / 2.0;